Automated piston forging feeding robot

Abstract

The present invention relates to the technical field of forging, and particularly to an automated piston forging feeding robot. The automated piston forging feeding robot comprises a sliding mechanism, a supporting mechanism, a base, a telescopic mechanism, a pushing mechanism, and a gripping mechanism, wherein the sliding mechanism is fixedly mounted on a walking beam, the supporting mechanism is fixedly mounted at a lower end of the sliding mechanism, the base is movably mounted on the ground, the telescopic mechanism is fixedly mounted in the supporting mechanism, the pushing mechanism is fixedly mounted on the ground, and the gripping mechanism is fixedly mounted at a front end of the walking beam. The present invention solves the problems of the high maintenance costs and high energy consumption associated with existing hydraulic feeding methods, achieves the ejection of billets during device movement, and provides appropriate cooling to prevent sticking. When billet jumping occurs, the hydraulic feeding methods fail to grip a workpiece, which causes the workpiece to remain in a deviated state and results in a failure to correct the position of the workpiece for delivery to a forging area for further processing. The present invention suppresses billet jumping and corrects the position of the workpiece.

Description

An automated piston forging feeding robot Technical Field

[0001] The present invention relates to the technical field of forging, and in particular to an automated piston forging feeding robot. Background Art

[0002] Forging is a metal processing process that applies force to cause metal materials to undergo plastic deformation to obtain the desired shape and size. The blank needs to be fed during the forging process. Common feeding methods on the market include manual feeding, mechanical feeding, automatic feeding and hydraulic feeding. The most commonly used method is manual feeding. Manual feeding refers to the operator using tools such as hoists and clamps to manually place the metal blank on the mold or workbench.

[0003] For the manual feeding method, first of all, it is labor-intensive. Manual feeding requires the operator to perform heavy physical labor. Long-term manual operation may cause fatigue and physical discomfort to the operator. Secondly, the production efficiency is relatively low. The operator's operating speed and skills have a certain impact on production efficiency, and it is more dependent on manual skills and experience. In addition, human errors may be introduced. The accuracy of manual operation is affected by the operator's skills and attention, which leads to the introduction of errors, which may make the position, angle or posture of the blank inaccurate, affecting the forging quality.

[0004] To this end, a common solution is to use hydraulic feeding. The hydraulic system can accurately control the feeding process by adjusting the pressure and flow of the hydraulic system, thereby achieving precise control and achieving a high degree of automation. Hydraulic feeding can be used in conjunction with an automation system to achieve a highly automated transportation and positioning process, improve production efficiency and reduce manual operations. However, hydraulic feeding has high energy consumption and requires power from equipment such as hydraulic pumps, so it consumes more energy. Moreover, the hydraulic system requires regular maintenance and servicing to ensure its normal operation and stable performance, and the maintenance cost is high. Importantly, hydraulic feeding will unify a certain repetitive action, which will result in the blank being able to be clamped only at the exact position. When an emergency occurs, the blank will have a certain offset and cause jumping, which will cause the hydraulic feeding to be unable to clamp the workpiece, making it impossible to forge the workpiece, thereby affecting the entire processing system.

[0005] In view of the above situation, in order to overcome the above technical problems, the present invention designs an automated piston forging feeding robot to solve the above technical problems.

[0006] Summary of the Invention

[0007] The technical problem to be solved by the present invention is that the existing hydraulic feeding robots mostly adopt the hydraulic loading method, which has high maintenance costs and high energy consumption ratio, and cannot save corresponding costs. Moreover, when the blank jumps, the hydraulic feeding cannot be clamped, causing the workpiece to remain in an offset state, and the position of the workpiece cannot be corrected to send the workpiece to the forging area for subsequent processing.

[0008] In order to achieve the above object, the present invention provides the following technical solutions:

[0009] The present invention provides the following technical solution: an automated piston forging feeding robot, comprising a sliding mechanism, a supporting mechanism, a base, a telescopic mechanism, a pushing mechanism and a clamping mechanism, characterized in that: the sliding mechanism is fixedly mounted on the walking beam, and the sliding mechanism moves along with the movement of the walking beam through the telescopic mechanism during the forward, backward, left and right movements of the walking beam, and keeps the initial position fixed, the lower end of the sliding mechanism is fixedly mounted with the supporting mechanism, and the supporting mechanism disperses the impact force generated by the walking beam when the walking beam moves up and down through force decomposition and a triangular arrangement, the base is movably mounted on the ground, the telescopic mechanism is fixedly mounted in the supporting mechanism, and the telescopic mechanism realizes force transmission when the walking beam moves up and down, and transmits force to the upper end of the base through the pushing mechanism, the pushing mechanism is fixedly mounted on the ground, and a clamping mechanism is fixedly mounted on the front end of the walking beam, and the clamping mechanism returns the blank to its original position along the clamping mechanism through force extrusion;

[0010] In addition, the up and down movement of the walking beam is used to push the lower end of the lower template, so that the movement of the walking beam itself is converted into a push on the lower template, reducing tedious maintenance and achieving appropriate cooling of the lower template, thereby avoiding the long-term forging process. The temperature of the lower die seat is relatively concentrated, causing the billet to melt and cause a sticking film phenomenon, and then assisting the forging equipment to demold and feed. The clamping mechanism also accurately corrects the position of the billet that accidentally leaves the required position during transportation or positioning, and smoothly guides the billet into the clamping area to ensure the smooth progress of the feeding process.

[0011] The clamping mechanism includes a cylinder, a positioning frame, a sliding rod, a mounting plate, an adapter plate, a clamping claw, a limit slot and a driven rod. The cylinder is fixedly mounted on the walking beam, the positioning frame is fixedly mounted on the cylinder, the left end of the sliding rod is fixedly mounted on the cylinder, a mounting plate is slidably mounted on the center of the sliding rod, and the mounting plate is I-shaped. The I-shape can obtain greater support force in the center while also obtaining better support effect at the extensions at both ends. An adapter plate is fixedly mounted on the right end of the sliding rod, and the size ratio of the mounting plate to the adapter plate is 2 : 1, when the clamping jaws rotate on the mounting plate, the adapter plate is subjected to more concentrated force, so that the extension and retraction of the sliding rod can obtain an effective movement effect, the clamping jaws are rotatably installed at both ends of the mounting plate, the clamping jaws are arranged in a mirror distribution, and the clamping jaws are wavy, so that the blank can touch the wavy part of the clamping jaws to correct the position, thereby correcting the blank into the groove, a limiting groove is provided in the center of the clamping jaw, and one side of the driven rod is rotatably installed in the center of the limiting groove, and the other side of the driven rod is rotatably installed at both ends of the adapter plate.

[0012] It is worth mentioning that when the blank is to be fed, due to inaccurate loading, the blank may accidentally leave the required position during transportation or positioning, and fail to accurately enter the forging area, resulting in a certain offset. When the wavy clamp reaches the clamping area, it clamps the offset blank. When it touches the offset blank, the blank will be squeezed along the wavy surface into the wavy groove, thereby correcting the position of the blank and successfully clamping it.

[0013] The supporting mechanism includes a positioning disc, a rotating disc, an active rod, a rotating shaft and a connecting rod. The positioning disc is fixedly mounted at the lower end of the sliding plate. A rotating disc is rotatably mounted in the center of the positioning disc. The diameter ratio of the rotating disc to the positioning disc is 3:4. When the diameter of the rotating disc is small, the restraining force during rotation will be reduced, thereby making the rotation smoother. One end of the active rod is fixedly mounted at the lower end of the rotating disc, and the other end of the active rod is fixedly mounted with a rotating shaft. One end of the connecting rod is rotatably mounted at both ends of the rotating shaft, and the other end of the connecting rod is rotatably mounted on the top of the base. The active rod and the positioning disc are connected in a fixed manner. The length ratio of the connecting rod is 2:3. The use of a relatively short active rod length can leave enough distance for the support mechanism to descend and squeeze when the support mechanism is squeezed. It can also cause the compression mechanism to be subjected to a smaller reverse force when it descends to a certain height. The gap between the connecting rod and the active rod is 1cm-3cm. When the gap is less than 1cm, the rotation will be subject to less resistance, resulting in overly sensitive rotation. When the gap is greater than 3cm, the rotation will be subject to greater resistance, resulting in obvious rotation obstruction and difficulty in rotation. Therefore, 1cm-3cm is used to make the rotation process relatively smooth and the rotation process runs smoothly.

[0014] Secondly, when the walking beam moves up and down, the telescopic mechanism will move up and down, and when the telescopic mechanism descends, it will cause a violent downward impact. At this time, the moment the telescopic mechanism descends, the support mechanism will absorb the force and disperse the absorbed force, thereby alleviating part of the downward impact. Afterwards, the support mechanism will descend with the telescopic mechanism, allowing the telescopic mechanism to operate smoothly and the pushing mechanism to push smoothly.

[0015] The base includes a bracket, a fixed disc, a rotating disc, a fixed plate, a sliding hole, a receiving groove, a fixed groove and a fixing component. The bracket is movably installed on the ground. A fixed disc is fixedly installed on the top of the bracket. The diameter ratio of the fixed disc to the rotating disc is 2:1, which can make the rotating disc rotate more sensitively in the center of the fixed disc, and can also make the fixed disc and the rotating disc receive greater support force. A rotating disc is rotatably installed in the center of the fixed disc. The fixed plates are fixedly installed on both sides of the rotating disc. The arrangement is symmetrical and fits tightly with the connecting rod. The central spacing of the fixed plates on both sides is 10 cm, which can enable the center to open an appropriate sliding hole while having sufficient spacing to ensure the mechanical properties of the material to meet the support force requirements. The sliding hole is opened in the center of the rotating disc. The diameter of the sliding hole is 6 cm, which can ensure that the rotating disc has sufficient support force while ensuring the support force of the telescopic mechanism. A receiving groove is opened in the center of the bracket, a fixed groove is opened at the bottom of the receiving groove, and a fixing component is fixedly installed in the center of the top of the receiving groove.

[0016] It should be noted that when the walking beam moves downward, the support mechanism absorbs part of the force and transmits the absorbed force to the rotating disc through the connecting rod. After the rotating disc absorbs the force, it disperses the absorbed force through the bracket, thereby realizing the decomposition and diffusion of the force.

[0017] The fixing component includes a support plate, a clamping groove, a fixing hole and a limiting hole. The top of the support plate is fixedly installed on the top of the storage slot, and a clamping groove is provided at the lower end of the support plate. The clamping grooves are arranged in a circular array and there are 4 of them. The 4 clamping grooves can make the fixing component receive four reverse supporting forces during the fixing process, thereby making the fixation more firm. The fixing hole is opened in the center of the clamping groove, and a limiting hole is opened in the center of the support plate. The shape of the limiting hole is an arc funnel. The arc funnel shape can reduce the contact area between the telescopic rod and the limiting circular hole, thereby reducing friction during sliding. The smooth part in the middle can limit and fix the telescopic rod, suppress shaking, and facilitate installation. The diameter of the lower end of the limiting hole is 2:3 to the diameter of the upper end. When the telescopic rod slides in the limiting hole, the diameter of the lower end is smaller than the diameter of the upper end, so that the lower end diameter can obtain concentrated support force, thereby improving the fixing effect.

[0018] It is worth mentioning that when the telescopic rod is sliding, there will be shaking in other directions, resulting in unstable sliding. The upper end of the limiting hole in the fixing component adopts an arc hole with a larger diameter, which can make the fixing component more stable when fixed on the top of the storage slot, providing greater support force to the whole. The lower end of the limiting hole adopts an arc hole with a smaller diameter, which can concentrate the support force of the upper end on the arc hole at the lower end to play a more stable supporting role. The center of the limiting hole is a smooth part. When the telescopic rod shakes, passing through the limiting hole will suppress the shaking, thereby ensuring the stability of sliding.

[0019] The telescopic mechanism includes a fixing frame, a telescopic rod, a push-in disk, a mounting groove and a rubber ring. The fixing frame is fixedly mounted on the rotating disc. One end of the telescopic rod is fixedly mounted on the bottom end of the fixing frame. The other end of the telescopic rod passes through the sliding hole and the limit hole and is fixedly mounted with the push-in disk. The height of the push-in disk is between 3cm and 5cm. When the height of the push-in disk is less than 3cm, the material of the push-in disk will slowly deform after long-term use, making the push-in disk lose its function. When the diameter of the push-in disk is greater than 5cm, the push-in disk will have a greater friction in the water pipe, thereby resisting Most of the thrust of the telescopic mechanism is eliminated, so that the thrust of the telescopic mechanism is insufficient and the pushing effect is lost. A mounting groove is opened in the center of the pushing disk. The ratio of the depth of the mounting groove to the diameter of the rubber ring is 2:3, so that a protruding part of the rubber ring is squeezed by the inner wall of the water pipe during the pushing process to achieve a sealing effect. A rubber ring is movably installed in the mounting groove. The rubber ring is made of natural rubber. Natural rubber has good wear resistance, elasticity, tearing strength and elongation, which can ensure good sealing of the pushing disk under long-term use and prevent internal liquid from leaking.

[0020] In addition, when the walking beam moves downward, it provides a downward impact force. By dispersing the force of the supporting mechanism, the telescopic mechanism obtains the remaining part of the force, and makes the acceleration of this impact force relatively stable, so that the telescopic mechanism is relatively smooth when pushing in the water pipe. When the walking beam moves upward, the pushing mechanism will expand and contract in the opposite direction, forming a larger suction force in the water pipe, causing the internal liquid to flow in the opposite direction, and causing the liquid in the water pipe to form a reverse suction force, thereby realizing the conversion of thrust and suction.

[0021] The pushing mechanism includes a water pipe, a base, an L-shaped fixing groove, a lower die base, a lower template, a mounting hole, a pushing hole, a forging hole and a pushing block. The left side of the water pipe is fixedly installed on the fixing groove, and the base is fixedly installed on the ground. An L-shaped fixing groove is provided inside the base. The short arm side of the L-shaped fixing groove can fix the water pipe, and the long arm side can fix the direction of the water pipe, thereby reinforcing the water pipe. The lower die base is fixedly installed on the top surface of the base, and the lower template is fixedly installed on the top surface of the lower die base. Mounting holes are provided inside the lower die base and the lower template. The right side of the water pipe is fixedly installed in the mounting hole. The length ratio of the side to the right side is 1:2, so that when the telescopic mechanism is pushed, it has a greater impact force on the liquid inside the water pipe, thereby providing a greater thrust to the pushing block to push the blank. A pushing hole is provided at the top of the mounting hole, and the pushing hole height is 5cm-10cm. When the pushing hole height is less than 5cm, the pushing formation will be insufficient, and the material will not be strong enough, causing the material to be easily deformed and damaged. When the pushing hole height is greater than 5cm, the pushing block will be subject to greater resistance, making it difficult to push the blank, so that the blank cannot reach the surface height of the lower template. A forging hole is provided at the top of the pushing hole, and the pushing block is movably installed in the center of the pushing hole.

[0022] In addition, when the telescopic mechanism slides downward, the pushing plate will push the liquid in the water pipe. When the length of the left side of the water pipe is smaller than the length of the right side, the pushing plate can be pushed downward, and the thrust can be quickly transmitted to the other end of the water pipe through the shorter stroke on the left side of the water pipe, avoiding the phenomenon of thrust attenuation caused by the long length, thereby avoiding the phenomenon of insufficient thrust; when the liquid in the water pipe is always in contact with the pushing block, the pushing block will be properly cooled, and the lower template can be properly cooled through heat transfer, thereby reducing the phenomenon of temperature rise of the lower template during long-term forging, thereby avoiding the phenomenon of melting and mucous membrane caused by the excessive concentration of the billet due to the lower template temperature being too high.

[0023] The pushing block includes a top plate, a sliding shaft, a pushing plate and a pushing groove. The top plate is slidably installed in the forged hole, the sliding shaft is fixedly installed at the bottom end of the top plate, and the bottom end of the sliding shaft is fixedly installed with a pushing plate. The pushing plate is made of stainless steel. Stainless steel has good corrosion resistance and good wear resistance, which can make the pushing plate not easily damaged and corroded when working in the water pipe, and ensure that it has good wear resistance during long-term work so that it can have a good service life. A pushing groove is provided at the bottom end of the pushing plate, and the pushing groove is crescent-shaped, which can make the thrust more concentrated, thereby obtaining sufficient thrust.

[0024] It should be noted that when the internal liquid pushes upward, the pushing block will be pushed by the internal liquid. When it touches the pushing groove, the pushing groove will cause the pushing force to be concentrated along the surface of the pushing groove to the central vertex, so that the thrust will not spread around, resulting in insufficient thrust.

[0025] The sliding mechanism includes a shell, a rectangular opening, a positioning hole, a rotating column and a sliding plate. The shell is slidably installed on the stepping beam. A rectangular opening is opened in the center of the shell. The length ratio of the rectangular opening to the shell is 5:9. A longer solid part can be left on both sides of the rectangular opening and the shell to provide a more stable support force. Positioning holes are opened on both sides of the rectangular opening. The positioning holes are arranged in a mirror arrangement. A rotating column is rotatably installed in the center of the positioning hole. The gap between the positioning hole and the rotating column is 3mm. The material of the rotating column will have a certain distance of deviation when it is subjected to force. Leaving a gap of 3mm can prevent the rotating column from being scratched and subjected to large resistance during the deviation, affecting the sliding smoothness, and ensuring the service life of the rotating column. The surface of the rotating column is provided with X-shaped lines, which can increase the friction on the surface of the rotating column so that the rotating column will not slip during work. A sliding plate is fixedly installed at the bottom end of the shell.

[0026] In addition, when the walking beam moves in six directions, front and back, up and down, left and right, during operation, the rotating column can fit tightly against the walking beam when moving back and forth, ensuring that the initial position is fixed so that the supporting mechanism and telescopic mechanism below are not affected. When the walking beam moves up and down, the force can be transmitted to the telescopic mechanism through the shell. When the walking beam moves left and right, the sliding plate can follow the left and right movement, so that the lower end mechanism is not affected by the movement of the walking beam.

[0027] In summary, compared with the prior art, the present invention has the following advantages:

[0028] 1. An automated piston forging feeding robot of the present invention can push the lower end of the lower template through the up and down movement of the walking beam, so that the movement of the walking beam itself is converted into the push of the lower template. There is no need to use a hydraulic rod for feeding, which reduces tedious maintenance and the design of complex systems, reduces costs, and realizes appropriate cooling of the lower template, thereby avoiding the relatively concentrated temperature of the lower die base during a long forging process, which causes the billet to melt and cause a sticking film phenomenon, thereby assisting the forging equipment in demolding and feeding.

[0029] 2. The automated piston forging feeding robot of the present invention can accurately correct the position of the blank that accidentally leaves the required position during transportation or positioning through the clamping mechanism, and smoothly guide the blank into the clamping area to ensure the smooth progress of the feeding process.

[0030] 3. An automated piston forging feeding robot of the present invention can disperse the impact force of the telescopic mechanism when it moves downward through the triangle rule, so that the force generated by the telescopic mechanism when it moves downward can maintain smooth movement, thereby allowing the pushing mechanism to operate smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] FIG1 is a schematic diagram of the overall structure of the present invention;

[0033] FIG2 is a schematic diagram of the sliding mechanism of the present invention;

[0034] FIG3 is a schematic diagram of a support mechanism of the present invention;

[0035] FIG4 is a schematic diagram of the base of the present invention;

[0036] FIG5 is a schematic diagram of a fixing component of the present invention;

[0037] FIG6 is a cross-sectional view of a fixing member of the present invention;

[0038] Figure 7 is a cross-sectional view of the pushing mechanism of the present invention;

[0039] FIG8 is a side view of the pushing mechanism of the present invention;

[0040] FIG9 is a schematic diagram of a push-out block of the present invention;

[0041] FIG10 is a schematic diagram of the clamping mechanism of the present invention.

[0042] In the figure: 1. Sliding mechanism; 11. Housing; 12. Rectangular opening; 13. Positioning hole; 14. Rotating column; 15. Sliding plate; 2. Support mechanism; 21. Positioning disc; 22. Rotating disc; 23. Active rod; 24. Rotating shaft; 25. Connecting rod; 3. Base; 31. Bracket; 32. Fixed disc; 33. Rotating disc; 34. Fixed plate; 35. Sliding hole; 36. Receiving slot; 37. Fixed groove; 38. Fixed component; 381. Support plate; 382. Clamping slot; 383. Fixed hole; 384. Limiting hole; 4. Telescopic mechanism; 41. Fixed frame; 42. Telescopic rod; 43. Push plate; 44. Mounting groove; 45. Rubber ring; 5. Pushing mechanism; 51. Water pipe; 52. Base; 53. L-shaped fixing groove; 54. Lower die base; 55. Lower template; 56. Mounting hole; 57. Pushing hole; 58. Forging hole; 59. Ejection block; 591. Top plate; 592. Sliding shaft; 593. Pushing plate; 594. Pushing groove; 6. Clamping mechanism; 61. Cylinder; 62. Positioning frame; 63. Sliding rod; 64. Mounting plate; 65. Adapter plate; 66. Clamping claw; 67. Limiting groove; 68. Follower rod. DETAILED DESCRIPTION

[0043] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0044] Example 1:

[0045] As shown in Figures 1 to 11, the present invention provides the following technical solution: an automated piston forging feeding robot, comprising a sliding mechanism 1, a support mechanism 2, a base 3, a telescopic mechanism 4, a pushing mechanism 5 and a clamping mechanism 6, characterized in that: the sliding mechanism 1 is fixedly mounted on the walking beam, and the sliding mechanism 1 moves along with the movement of the walking beam through the telescopic mechanism 4 when the walking beam moves forward, backward, left and right, and keeps the initial position fixed; the supporting mechanism 2 is fixedly mounted on the lower end of the sliding mechanism 1, and the supporting mechanism 2 disperses the impact force generated on the walking beam when the walking beam moves up and down through the decomposition of force and the triangular arrangement; the base 3 is movably mounted on the ground; the telescopic mechanism 4 is fixedly mounted in the supporting mechanism 2; the telescopic mechanism 4 realizes force transmission when the walking beam moves up and down, and transmits the force to the upper end of the base 3 through the pushing mechanism 5; the pushing mechanism 5 is fixedly mounted on the ground; the front end of the walking beam is fixedly mounted with a clamping mechanism 6, and the clamping mechanism 6 returns the blank to its original position along the clamping mechanism 6 by force extrusion.

[0046] In addition, the lower end of the lower template 55 is pushed by the up and down movement of the walking beam, so that the movement of the walking beam itself is converted into the push of the lower template 55, reducing tedious maintenance and achieving appropriate cooling of the lower template 55, thereby avoiding the long-term forging process. The temperature of the lower die base 54 is relatively concentrated, causing the blank to melt and cause a sticking film phenomenon, thereby assisting the forging equipment to demold and feed the material. The clamping mechanism 6 also accurately corrects the position of the blank that accidentally leaves the required position during transportation or positioning, and smoothly guides the blank into the clamping area to ensure the smooth progress of the feeding process.

[0047] As shown in Figure 2, the sliding mechanism 1 includes a shell 11, a rectangular opening 12, a positioning hole 13, a rotating column 14 and a sliding plate 15. The shell 11 is slidably installed on the stepping beam. The parameters of the shell 11 are 144mm×120mm×100mm. A rectangular opening 12 is opened in the center of the shell 11. The parameters of the rectangular opening 12 are 80mm×80mm×100mm. The length ratio of the rectangular opening 12 to the shell 11 is 5:9. A longer solid part can be left on both sides of the rectangular opening 12 and the shell 11 to provide a more stable support force. Positioning holes 13 are opened on both sides of the rectangular opening 12. The diameter of the positioning hole 13 is 16mm. The positioning holes 13 are arranged in a mirror arrangement. A rotating column 14 is rotatably installed in the center of the positioning hole 13. The diameter of the rotating column 14 is 10mm. The gap between the positioning hole 13 and the rotating column 14 is 3mm. The rotating column 14 The material will deviate a certain distance to the left and right when it is subjected to force. A gap of 3mm is left to prevent the rotating column 14 from being scratched and subjected to large resistance during the deviation, thereby affecting the sliding smoothness and ensuring the service life of the rotating column 14. The surface of the rotating column 14 is provided with X-shaped lines, which can increase the friction on the surface of the rotating column 14, so that the rotating column 14 will not slip during operation. A sliding plate 15 is fixedly installed at the bottom end of the shell 11. When the walking beam moves in six directions, front and back, up and down, left and right, the rotating column 14 can fit tightly to the walking beam when moving back and forth, ensuring that the initial position is fixed so that the lower support mechanism 2 and the telescopic mechanism 4 are not affected. When the walking beam moves up and down, the force can be transmitted to the telescopic mechanism 4 through the shell 11. When the walking beam moves left and right, the sliding plate 15 can follow the left and right movement, so that the lower end mechanism is not affected by the movement of the walking beam.

[0048] As shown in Figure 3, the support mechanism 2 includes a positioning disc 21, a rotating disc 22, an active rod 23, a rotating shaft 24 and a connecting rod 25. The positioning disc 21 is fixedly mounted on the lower end of the sliding plate 15. The diameter of the positioning disc 21 is 90 mm. The rotating disc 22 is rotatably mounted in the center of the positioning disc 21. The diameter of the rotating disc 22 is 120 mm. The diameter ratio of the rotating disc 22 to the positioning disc 21 is 3:4. When the diameter of the rotating disc 22 is small, the restraining force during rotation will be reduced, thereby making the rotation smoother. One end of the active rod 23 is fixedly mounted on the lower end of the rotating disc 22, and the other end of the active rod 23 is fixedly mounted on the rotating shaft 24. The parameter of the active rod 23 is 300 mm. One end of the connecting rod 25 is rotatably mounted on both ends of the rotating shaft 24, and the other end of the connecting rod 25 is rotatably mounted on the top of the base 3. The length of the connecting rod 25 is 450 mm, the length ratio of the active rod 23 to the connecting rod 25 is 2:3. The relatively short length of the active rod 23 can leave enough distance for the support mechanism 2 to be squeezed when it is squeezed, and can also cause the compression mechanism to be subjected to a smaller reverse force when it drops to a certain height. The gap between the connecting rod 25 and the active rod 23 is 2 cm. When the gap is 2 cm, the rotation will be subjected to moderate resistance, and the steering will not be easily subjected to resistance, making the steering smooth, so that the entire rotation process runs smoothly; when the walking beam moves up and down, the telescopic mechanism 4 will move up and down, and a violent downward impact will be caused when the telescopic mechanism 4 drops. At this time, the moment the telescopic mechanism 4 drops, the support mechanism 2 will be absorbed by the force and the absorbed force will be dispersed, thereby alleviating part of the impact of the drop. Afterwards, the support mechanism 2 will drop with the telescopic mechanism 4, so that the telescopic mechanism 4 runs smoothly and the pushing mechanism 5 is pushed smoothly.

[0049] In addition, when the support mechanism 2 is subjected to a downward impact force, the impact force is F1, and the support mechanism 2 will be affected by the impact F1. The active rod 23 is acted upon by the force and transmits the force to the rotating shaft 24. Connecting rods 25 are connected on both sides of the rotating shaft 24. When subjected to the impact force, the active rod 23 and the connecting rod 25 change from a stationary state to a moving state, which requires a certain amount of power, thereby generating a reverse force R1 along the active rod 23, thereby consuming part of the impact force. After the impact force and the reverse force are offset, a downward force F2 remains, F2>R1<F1.

[0050] As shown in Figures 4 and 5, the base 3 includes a bracket 31, a fixed disc 32, a rotating disc 33, a fixed plate 34, a sliding hole 35, a receiving slot 36, a fixed groove 37 and a fixing component 38. The bracket 31 is movably installed on the ground, and a fixed disc 32 is fixedly installed on the top of the bracket 31. The diameter of the fixed disc 32 is 200 mm, and the diameter ratio of the fixed disc 32 to the rotating disc 33 is 2:1, which can make the rotating disc 22 rotate more sensitively in the center of the fixed disc 32, and can also make the fixed disc 32 and the rotating disc 22 receive greater support force. A rotating disc 33 is rotatably installed in the center of the fixed disc 32, and the diameter of the rotating disc 33 is 100 mm. The fixed plates 34 are fixedly installed on both sides of the rotating disc 33, and the arrangement is symmetrical and fits tightly with the connecting rod 25. The center spacing of the fixed plates 34 on both sides is 10 cm, which can make While an appropriate sliding hole 35 is opened in the center, there is sufficient spacing to ensure the mechanical properties of the material to achieve the required supporting force; the sliding hole 35 is opened in the center of the rotating disk 33, and the diameter of the sliding hole 35 is 6 cm, which can ensure the supporting force of the telescopic mechanism 4 while ensuring that the rotating disk 33 has sufficient supporting force. A receiving groove 36 is opened in the center of the bracket 31, and a fixing groove 37 is opened at the bottom of the receiving groove 36. The diameter of the fixing groove 37 is 500 mm, and the distance between the bottom end of the fixing groove 37 and the bottom of the bracket 31 is 100 mm, providing sufficient supporting force. A fixing component 38 is fixedly installed in the center of the top of the receiving groove 36. When the stepping beam moves downward, the support mechanism 2 absorbs part of the force and transmits the absorbed force to the rotating disk 33 through the connecting rod 25. After the rotating disk 33 absorbs the force, it disperses the absorbed force through the bracket 31, thereby realizing the decomposition and diffusion of force.

[0051] As shown in Figures 5 and 6, the fixing component 38 includes a support plate 381, a clamping groove 382, ​​a fixing hole 383 and a limiting hole 384. The top of the support plate 381 is fixedly installed at the top of the storage slot 36. The parameters of the support plate 381 are as follows: the lower end of the support plate 381 is provided with a clamping groove 382, ​​and the clamping grooves 382 are arranged in a circular array. There are four of them, which can make the fixing component 38 receive four reverse supporting forces during the fixing process, thereby making the fixation more firm. The fixing hole 383 is opened in the center of the clamping groove 382; the center of the support plate 381 is provided with a limiting hole 384, and the central diameter of the limiting hole 384 is 60mm. The limiting hole 384 is in the shape of an arc funnel. The arc funnel shape can reduce the contact area between the telescopic rod 42 and the limiting circular hole, thereby reducing friction during sliding. The smooth part in the middle can limit and fix the telescopic rod 42, suppressing shaking, The cam 384 is a substantially rectangular hole with a diameter of 240 mm and a substantially rectangular hole with a diameter of 140 mm.

[0052] As shown in Figure 3, the telescopic mechanism 4 includes a fixing frame 41, a telescopic rod 42, a pushing disk 43, a mounting groove 44 and a rubber ring 45. The fixing frame 41 is fixedly mounted on the rotating disc 22. One end of the telescopic rod 42 is fixedly mounted on the bottom end of the fixing frame 41. The other end of the telescopic rod 42 passes through the sliding hole 35 and the limiting hole 384, and is fixedly mounted with the pushing disk 43. The height of the pushing disk 43 is 5 cm. The selection of 5 cm can ensure the mechanical properties of the material of the pushing disk 43 while not having a large friction force, resulting in failure of the pushing effect; a mounting groove 44 is opened in the center of the pushing disk 43. The depth of the mounting groove 44 is 10 mm and the width is 15 mm. The ratio of the depth of the mounting groove 44 to the diameter of the rubber ring 45 is 2:3, so that the protruding part of the rubber ring 45 is squeezed by the inner wall of the water pipe 51 during the pushing process. Pressure is applied to achieve a sealing effect. A rubber ring 45 is movably installed in the mounting groove 44. The diameter of the rubber ring 45 is 15 mm. The material of the rubber ring 45 is natural rubber. Natural rubber has excellent wear resistance, elasticity, tear strength and elongation, which can ensure good sealing of the push-in disk 43 under long-term use, so that the internal liquid does not leak out. When the walking beam moves downward, it provides a downward impact force. Through the dispersion of the force of the supporting mechanism 2, the telescopic mechanism 4 obtains the remaining part of the force, and makes the acceleration of this impact force more stable, so that the telescopic mechanism 4 is relatively smooth when pushing in the water pipe 51. When the walking beam moves upward, the pushing mechanism 5 will expand and contract in the reverse direction, and will form a large suction force in the water pipe 51, so that the internal liquid will flow in the reverse direction, and the liquid in the water pipe 51 will form a reverse suction, thereby realizing the conversion of thrust and suction.

[0053] As shown in Figures 7 and 8, the pushing mechanism 5 includes a water pipe 51, a base 52, an L-shaped fixed groove 53, a lower die base 54, a lower die plate 55, a mounting hole 56, a pushing hole 57, a forging hole 58 and a pushing block 59. The left side of the water pipe 51 is fixedly installed on the fixed groove 37. The diameter of the water pipe 51 is 500 mm and the wall thickness is 20 mm. The base 52 is fixedly installed on the ground. The parameters of the base 52 are 3m×1.2m×2m. An L-shaped fixed groove 53 is opened inside the base 52. The short arm length of the L-shaped fixed groove 53 is 1.2m, and the long arm length of the L-shaped fixed groove 53 is 1.6m. The short arm side of the L-shaped fixed groove 53 can be adjusted to the water. The water pipe 51 is fixed, and the long arm side can fix the direction of the water pipe 51, thereby reinforcing the water pipe 51. The lower mold base 54 is fixedly mounted on the top surface of the base 52, and the lower template 55 is fixedly mounted on the top surface of the lower mold base 54. The lower mold base 54 and the lower template 55 are internally provided with a mounting hole 56. The right side of the water pipe 51 is fixedly mounted in the mounting hole 56. The length ratio of the left side to the right side of the water pipe 51 is 1:2. The height of the left side of the water pipe 51 is 60 cm, and the height of the right side is 120 cm, which can make the telescopic mechanism 4 When pushing, it exerts a greater impact force on the liquid inside the water pipe 51, thereby providing a greater thrust to the pushing block to push the blank; a pushing hole 57 is provided at the top of the mounting hole 56, and the height of the pushing hole 57 is 8 cm, which can make the position of the pushing hole 57 have better support. A forging hole 58 is provided at the top of the pushing hole 57, and the pushing block 59 is movably installed in the center of the pushing hole 57; when the telescopic mechanism 4 slides downward, the pushing disk 43 will push the liquid in the water pipe 51. When the length of the left side of the water pipe 51 is less than that of the right side, it can When the push disk 43 is pushed downward, the thrust is quickly transmitted to the other end of the water pipe 51 through the shorter stroke on the left side of the water pipe 51, avoiding the phenomenon of thrust attenuation caused by the long length, thereby preventing the thrust from being insufficient; when the liquid in the water pipe 51 is always in contact with the pushing block, the pushing block can be properly cooled, and the lower template 55 can be properly cooled through heat transfer, thereby reducing the phenomenon of the lower template 55 heating up during the long forging process, thereby avoiding the phenomenon of the blank melting and causing sticking due to the excessive concentration of the temperature of the lower template 55.

[0054] As shown in FIG9 , the push block includes a top plate 591, a sliding shaft 592, a push plate 593 and a push groove 594. The top plate 591 is slidably mounted in the forged hole 58. The sliding shaft 592 is fixedly mounted at the bottom end of the top plate 591. The sliding shaft 592 has a diameter of 30 mm. A push plate 593 is fixedly mounted at the bottom end of the sliding shaft 592. The push plate 593 has a diameter of 460 mm and a thickness of 50 mm. The push plate 593 is made of stainless steel. Stainless steel has good corrosion resistance and good wear resistance, which can make the push plate 593 3 is not easily damaged or corroded when working in the water pipe 51, and ensures good wear resistance during long-term operation so that it can have a long service life; the bottom end of the pushing plate 593 is provided with a pushing groove 594, and the pushing groove 594 is crescent-shaped, which can make the thrust more concentrated, thereby obtaining sufficient thrust. When the internal liquid pushes upward, the pushing block will be pushed by the internal liquid. When it touches the pushing groove 594, the pushing groove 594 will concentrate the thrust along the surface of the pushing groove 594 to the central vertex, so that the thrust will not spread around, resulting in insufficient thrust.

[0055] As shown in Figure 10, the clamping mechanism 6 includes a cylinder 61, a positioning frame 62, a sliding rod 63, a mounting plate 64, an adapter plate 65, a clamping claw 66, a limiting slot 67 and a driven rod 68. The cylinder 61 is fixedly mounted on the stepping beam, the positioning frame 62 is fixedly mounted on the cylinder 61, and the left end of the sliding rod 63 is fixedly mounted on the cylinder 61. The diameter of the sliding rod 63 is 30 mm. A mounting plate 64 is slidably mounted in the center of the sliding rod 63. The parameters of the mounting plate 64 are 100 mm × 80 mm × 30 mm, and the mounting plate 64 is I-shaped. The I-shape can obtain a greater supporting force in the center while also obtaining a better supporting effect at the extensions at both ends. An adapter plate 65 is fixedly mounted on the right end of the sliding rod 63. The parameters of the adapter plate 65 are 50 mm × 40 mm × 30 mm. The size ratio of the mounting plate 64 to the adapter plate 65 is 2:1, so that the clamping claw 66 can cause the adapter plate 65 to be affected when the mounting plate 64 rotates. More concentrated force is exerted, so that the extension and retraction of the sliding rod 63 can obtain an effective movement effect. The two ends of the mounting plate 64 are rotatably mounted with clamping jaws 66, and the arrangement of the clamping jaws 66 is a mirror distribution. The clamping jaws 66 are wavy, so that the blank can touch the wavy rotation of the clamping jaws 66 to correct the position, thereby correcting the blank into the groove; a limiting groove 67 is provided in the center of the clamping jaw 66, and one side of the driven rod 68 is rotatably mounted in the center of the limiting groove 67, and the other side of the driven rod 68 is rotatably mounted at both ends of the adapter plate 65. When the blank is to be fed, due to the inaccurate loading, the blank may accidentally leave the required position during transportation or positioning, and fail to accurately enter the forging area, resulting in a certain offset. When the wavy clamping jaw 66 reaches the clamping area, it clamps the offset blank. When it touches the offset blank, the blank will be squeezed along the wavy surface into the inside of the wavy groove, thereby correcting the position of the blank and successfully clamping it.

[0056] During the operation of the present invention, when the walking beam moves downward, the sliding mechanism 1 moves downward, and the telescopic mechanism 4 moves downward. At this time, the supporting mechanism 2 is also squeezed while the telescopic mechanism 4 moves downward, and has a reverse effect on the telescopic mechanism 4. At this time, the telescopic mechanism 4 slides downward smoothly, driving the pushing mechanism 5 to push downward, so that the water pipe 51 in the base 3 is pushed by the force, so that the pushing mechanism 5 pushes upward to eject the blank. When the walking beam moves upward, the telescopic mechanism 4 moves in the opposite direction, thereby driving the pushing mechanism 5 to move in the opposite direction to retract the pushing block, which is convenient for the next forging process.

[0057] Although the beneficial effects of the present invention have been demonstrated in detail and embodiments have been provided in this specification, it is apparent to those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automated piston forging feeding robot, comprising a sliding mechanism (1), a supporting mechanism (2), a base (3), a telescopic mechanism (4), a pushing mechanism (5) and a clamping mechanism (6), characterized in that: The sliding mechanism (1) is fixedly mounted on the walking beam. When the walking beam moves forward, backward, left, or right, the sliding mechanism (1) moves along with the movement of the walking beam through the telescopic mechanism (4) to keep the initial position fixed. The support mechanism (2) is fixedly mounted on the lower end of the sliding mechanism (1). The support mechanism (2) disperses the impact force generated by the walking beam when the walking beam moves up and down through force decomposition and triangular arrangement. The base (3) is movably mounted on the ground. The telescopic mechanism (4) is fixedly mounted in the support mechanism (2). When the walking beam moves up and down, the telescopic mechanism (4) realizes force transmission and transmits force to the upper end of the base (3) through the pushing mechanism (5). The pushing mechanism (5) is fixedly mounted on the ground. A clamping mechanism (6) is fixedly mounted on the front end of the walking beam. The clamping mechanism (6) returns the blank to its original position along the clamping mechanism (6) through force extrusion.

2. The automatic piston forging feeding robot according to claim 1, characterized in that: The clamping mechanism (6) comprises a cylinder (61), a positioning frame (62), a sliding rod (63), a mounting plate (64), an adapter plate (65), a clamping claw (66), a limiting groove (67) and a driven rod (68), wherein the cylinder (61) is fixedly mounted on the stepping beam, the positioning frame (62) is fixedly mounted on the cylinder (61), the left end of the sliding rod (63) is fixedly mounted on the cylinder (61), a mounting plate (64) is slidably mounted in the center of the sliding rod (63), and the mounting plate (64) is in an I-shape, and the sliding rod (63) An adapter plate (65) is fixedly installed at the right end, and the adapter plate (65) is in an I-shape. The size ratio of the mounting plate (64) to the adapter plate (65) is 2:

1. Clamping jaws (66) are rotatably installed at both ends of the mounting plate (64). The arrangement of the clamping jaws (66) is a mirror image distribution. The clamping jaws (66) are in a wave shape. A limiting groove (67) is provided in the center of the clamping jaw (66). One side of a driven rod (68) is rotatably installed in the center of the limiting groove (67). The other side of the driven rod (68) is rotatably installed at both ends of the adapter plate (65).

3. The automatic piston forging feeding robot according to claim 1, characterized in that: The support mechanism (2) comprises a positioning disc (21), a rotating disc (22), an active rod (23), a rotating shaft (24) and a connecting rod (25); the positioning disc (21) is fixedly mounted on the lower end of the sliding plate (15); the rotating disc (22) is rotatably mounted at the center of the positioning disc (21); the diameter ratio of the rotating disc (22) to the positioning disc (21) is 3:4; one end of the active rod (23) is fixedly mounted on the lower end of the rotating disc (22); the other end of the active rod (23) is fixedly mounted on the rotating shaft (24); one end of the connecting rod (25) is rotatably mounted on both ends of the rotating shaft (24); the other end of the connecting rod (25) is rotatably mounted on the top of the base (3); the length ratio of the active rod (23) to the connecting rod (25) is 2:3; and the gap between the connecting rod (25) and the active rod (23) is 1 cm-3 cm.

4. The automatic piston forging feeding robot according to claim 1, characterized in that: The base (3) comprises a bracket (31), a fixed disc (32), a rotating disc (33), a fixed plate (34), a sliding hole (35), a storage groove (36), a fixed groove (37) and a fixed component (38). The bracket (31) is movably mounted on the ground. A fixed disc (32) is fixedly mounted on the top of the bracket (31). The diameter ratio of the fixed disc (32) to the rotating disc (22) is 2:

1. A rotating disc (33) is rotatably mounted at the center of the fixed disc (32). The fixed plates (34) are fixedly mounted on both sides of the rotating disc (33) in a symmetrical arrangement and are closely fitted with the connecting rod (25). The center spacing between the fixed plates (34) on both sides is 10 cm. The sliding hole (35) is opened in the center of the rotating disc (33). The sliding hole (35) has a diameter of 6 cm. A receiving groove (36) is opened in the center of the bracket (31). A fixing groove (37) is opened at the bottom of the receiving groove (36). A fixing component (38) is fixedly mounted at the center of the top of the receiving groove (36).

5. The automatic piston forging feeding robot according to claim 4, characterized in that: The fixing component (38) comprises a support plate (381), a clamping groove (382), a fixing hole (383) and a limiting hole (384); the top end of the support plate (381) is fixedly mounted on the top end of the storage groove (36); the lower end of the support plate (381) is provided with a clamping groove (382); the clamping grooves (382) are arranged in a circular array and are 4 in number; the fixing hole (383) is provided in the center of the clamping groove (382); the center of the support plate (381) is provided with a limiting hole (384); the limiting hole (384) is in the shape of a circular arc funnel; the lower end diameter of the limiting hole (384) is 2:3 to the upper end diameter.

6. The automatic piston forging feeding robot according to claim 1, characterized in that: The telescopic mechanism (4) comprises a fixed frame (41), a telescopic rod (42), a push disk (43), a mounting groove (44) and a rubber ring (45). The fixed frame (41) is fixedly mounted on the rotating disc (22). One end of the telescopic rod (42) is fixedly mounted on the bottom end of the fixed frame (41). The other end of the telescopic rod (42) passes through a sliding hole (35) and a limiting hole (384) and is fixedly mounted with a push disk (43). The height of the push disk (43) is between 3 cm and 5 cm. A mounting groove (44) is provided in the center of the push disk (43). The ratio of the depth of the mounting groove (44) to the diameter of the rubber ring (45) is 2:

3. A rubber ring (45) is movably mounted in the mounting groove (44). The material of the rubber ring (45) is natural rubber.

7. The automatic piston forging feeding robot according to claim 1, characterized in that: The pushing mechanism (5) comprises a water pipe (51), a base (52), an L-shaped fixing groove (53), a lower die base (54), a lower template (55), a mounting hole (56), a pushing hole (57), a forging hole (58) and a pushing block (59); the left side of the water pipe (51) is fixedly mounted on the fixing groove (37); the base (52) is fixedly mounted on the ground; an L-shaped fixing groove (53) is provided inside the base (52); the lower die base (54) is fixedly mounted on the top surface of the base (52); and the lower template (55) The water pipe (51) is fixedly mounted on the top surface of the lower die base (54); the lower die base (54) and the lower die plate (55) are provided with mounting holes (56); the right side of the water pipe (51) is fixedly mounted in the mounting hole (56); the length ratio between the left side and the right side of the water pipe (51) is 1:2; a push hole (57) is provided at the top of the mounting hole (56); the height of the push hole (57) is 5 cm-10 cm; a forging hole (58) is provided at the top of the push hole (57); and the push block (59) is movably mounted at the center of the push hole (57).

8. The automatic piston forging feeding robot according to claim 7, characterized in that: The pushing block comprises a top plate (591), a sliding shaft (592), a pushing plate (593) and a pushing groove (594); the top plate (591) is slidably mounted in the forged hole (58); the sliding shaft (592) is fixedly mounted on the bottom end of the top plate (591); a pushing plate (593) is fixedly mounted on the bottom end of the sliding shaft (592); the pushing plate (593) is made of stainless steel; a pushing groove (594) is provided at the bottom end of the pushing plate (593); and the pushing groove (594) is crescent-shaped.

9. The automatic piston forging feeding robot according to claim 1, characterized in that: The sliding mechanism (1) comprises a housing (11), a rectangular opening (12), a positioning hole (13), a rotating column (14) and a sliding plate (15); the housing (11) is slidably mounted on a stepping beam; a rectangular opening (12) is provided at the center of the housing (11); the length ratio of the rectangular opening (12) to the housing (11) is 5:9; positioning holes (13) are provided on both sides of the rectangular opening (12); the positioning holes (13) are arranged in a mirror-image arrangement; a rotating column (14) is rotatably mounted at the center of the positioning hole (13); a gap between the positioning hole (13) and the rotating column (14) is 3 mm; an X-shaped pattern is provided on the surface of the rotating column (14); and a sliding plate (15) is fixedly mounted at the bottom end of the housing (11).

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